TY - CONF T1 - Optimization of Internal Forces in Force-Closure Grasps T2 - Proc. IEEE Mediterranean Conf. On Control And Systems Y1 - 1998 A1 - A. Bicchi A1 - D Prattichizzo A1 - G. Antognetti KW - Haptics KW - Robotics JF - Proc. IEEE Mediterranean Conf. On Control And Systems ER -